def recoverRobot():
try:
rebootEMBL()
time.sleep(8.0)
RobotControlLib.runCmd("recover")
except Exception as e:
e_s = str(e)
daq_lib.gui_message("ROBOT Recover failed! " + e_s)
def parkGripper():
try:
RobotControlLib.runCmd("park")
except Exception as e:
e_s = str(e)
message = "Park gripper Failed!: " + e_s
daq_lib.gui_message(message)
logger.error(message)
def mva(*args):
try:
beamline_support.mva(*args)
except Exception as e:
bl_stop_motors()
e_s = str(e)
error_msg = "detector move error: %s" % e_s
daq_lib.gui_message(error_msg)
logger.error(error_msg)
def testRobot():
try:
RobotControlLib.testRobot()
logger.info("Test Robot passed!")
daq_lib.gui_message("Test Robot passed!")
except Exception as e:
e_s = str(e)
message = "Test Robot failed!: " + e_s
daq_lib.gui_message(message)
logger.error(message)
def dryGripper():
try:
saveThreshold = getPvDesc("warmupThresholdRBV")
setPvDesc("warmupThreshold",50)
_thread.start_new_thread(warmupGripperRecoverThread,(saveThreshold,0))
warmupGripperForDry()
except Exception as e:
e_s = str(e)
daq_lib.gui_message("Dry gripper failed! " + e_s)
setPvDesc("warmupThreshold",saveThreshold)
def finish():
if (db_lib.getBeamlineConfigParam(daq_utils.beamline,'robot_online')):
try:
RobotControlLib.runCmd("finish")
return 1
except Exception as e:
e_s = str(e)
daq_lib.gui_message("ROBOT Finish ERROR: " + e_s)
print(e)
# daq_lib.gui_message(e)
return 0
def finish():
if (getBlConfig('robot_online')):
try:
RobotControlLib.runCmd("finish")
return 1
except Exception as e:
e_s = str(e)
message = "ROBOT Finish ERROR: " + e_s
daq_lib.gui_message(message)
logger.error(message)
return 0
def spectrum_analysis():
#as of 12/04, this is letting chooch do the analysis
peak = 0.0
infl = 0.0
fprime_peak = 0.0
fprime_infl = 0.0
f2prime_peak = 0.0
f2prime_infl = 0.0
result_list = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0] #expanded on 12/4 to include f', f'', dermin obsolete
dermin = 1.0
#skinner 12/09 - just get this from energy
scan_midpoint_w = 12398.5 / get_mono_energy()
scan_element = guess_element_for_chooch(scan_midpoint_w)
element_edge_info = scan_element + "-" + element_info[scan_element][2]
chooch_prefix = specgen("spectrum.dat", element_edge_info, 3, 2)
if (scan_element != "unknown"):
comm_s = "chooch -e %s -o %s -p %s %s" % (
scan_element, chooch_prefix + ".efs", chooch_prefix + ".ps",
chooch_prefix + ".raw")
else:
comm_s = "chooch -o %s -p %s %s" % (chooch_prefix + ".efs",
chooch_prefix + ".ps",
chooch_prefix + ".raw")
logger.info(comm_s)
daq_lib.gui_message("Running Chooch...&")
for outputline in os.popen(comm_s).readlines():
logger.info(outputline)
tokens = split(outputline)
if (len(tokens) > 4):
if (tokens[1] == "peak"):
peak = float(tokens[3])
fprime_peak = float(tokens[7])
f2prime_peak = float(tokens[5])
elif (tokens[1] == "infl"):
infl = float(tokens[3])
fprime_infl = float(tokens[7])
f2prime_infl = float(tokens[5])
else:
pass
daq_lib.destroy_gui_message()
os.system("xmgrace spectrum.spec&")
os.system("gv.sh " + chooch_prefix +
".ps") #kludged with a shell call to get around gv bug
os.system("ln -sf " + chooch_prefix + ".ps latest_chooch_plot.ps")
result_list[0] = infl
result_list[1] = peak
result_list[2] = dermin
result_list[3] = f2prime_infl
result_list[4] = fprime_infl
result_list[5] = f2prime_peak
result_list[6] = fprime_peak
return result_list
def recoverRobot():
try:
rebootEMBL()
time.sleep(8.0)
_,bLoaded,_ = RobotControlLib.recover()
if bLoaded:
daq_macros.robotOff()
daq_macros.disableMount()
daq_lib.gui_message("Found a sample in the gripper - CALL STAFF! disableMount() executed.")
else:
RobotControlLib.runCmd("goHome")
except Exception as e:
e_s = str(e)
daq_lib.gui_message("ROBOT Recover failed! " + e_s)
def spectrum_analysis():
#as of 12/04, this is letting chooch do the analysis
peak = 0.0
infl = 0.0
fprime_peak = 0.0
fprime_infl = 0.0
f2prime_peak = 0.0
f2prime_infl = 0.0
result_list = [0.0,0.0,0.0,0.0,0.0,0.0,0.0] #expanded on 12/4 to include f', f'', dermin obsolete
dermin=1.0
#skinner 12/09 - just get this from energy
scan_midpoint_w = 12398.5/get_mono_energy()
scan_element = guess_element_for_chooch(scan_midpoint_w)
element_edge_info = scan_element + "-" + element_info[scan_element][2]
chooch_prefix = specgen("spectrum.dat",element_edge_info,3,2)
if (scan_element != "unknown"):
comm_s = "chooch -e %s -o %s -p %s %s" % (scan_element,chooch_prefix+".efs",chooch_prefix+".ps",chooch_prefix+".raw")
else:
comm_s = "chooch -o %s -p %s %s" % (chooch_prefix+".efs",chooch_prefix+".ps",chooch_prefix+".raw")
print comm_s
daq_lib.gui_message("Running Chooch...&")
for outputline in os.popen(comm_s).readlines():
print outputline
tokens = split(outputline)
if (len(tokens)>4):
if (tokens[1] == "peak"):
peak = float(tokens[3])
fprime_peak = float(tokens[7])
f2prime_peak = float(tokens[5])
elif (tokens[1] == "infl"):
infl = float(tokens[3])
fprime_infl = float(tokens[7])
f2prime_infl = float(tokens[5])
else:
pass
daq_lib.destroy_gui_message()
os.system("xmgrace spectrum.spec&")
os.system("gv.sh "+chooch_prefix+".ps") #kludged with a shell call to get around gv bug
os.system("ln -sf "+chooch_prefix+".ps latest_chooch_plot.ps")
result_list[0] = infl
result_list[1] = peak
result_list[2] = dermin
result_list[3] = f2prime_infl
result_list[4] = fprime_infl
result_list[5] = f2prime_peak
result_list[6] = fprime_peak
return result_list
def move_mono(energy): # for now, not sure if this should go in macros
mono_mot_code = beamline_support.get_motor_code(beamline_support.motor_code_from_descriptor("monochromator"))
if (daq_utils.beamline == "x25a"):
### return
max_needed = 0
if (get_epics_pv("crue","VAL") != 1):
daq_lib.destroy_gui_message()
daq_lib.gui_message("Gap not enabled. Will continue.&")
if (abs(float(get_mono_energy())-float(energy)) > 100):
# if (abs(float(daq_lib.get_field("mono_energy_current"))-float(energy)) > 100):
max_needed=1
if (max_needed):
max_needed = 0
daq_lib.gui_message("The wavelength change requires a beamlign realign. Please push the Realign button.&")
# daq_macros.realign()
if (abs(float(get_mono_energy())-float(energy)) > .1):
mva(mono_mot_code,float(energy))
def mvr(*args):
if (args[0] == "Omega" and int(os.environ["GON_OFFLINE"]) == 1): #shitty kludge for omega issues
return
try:
beamline_support.mvr(*args)
except KeyboardInterrupt:
bl_stop_motors()
except epicsMotor.epicsMotorException,status:
try:
ii = 0
status_string = ""
while(1):
status_string = status_string + str(status[ii])
ii = ii + 1
except IndexError:
print status_string
daq_lib.gui_message(status_string+"&")
def wait90TopviewThread(prefix1, prefix90):
global sampXadjust, sampYadjust, sampZadjust
sampXadjust = 0
sampYadjust = 0
sampZadjust = 0
startTime = time.time()
if (getPvDesc("gripTemp") > -170):
threadTimeout = 130.0
else:
threadTimeout = 30.0
while (1):
omegaCP = beamline_lib.motorPosFromDescriptor("omega")
if (omegaCP > 89.5 and omegaCP < 90.5):
logger.info("leaving topview thread for 90")
break
if (time.time() - startTime > threadTimeout):
logger.info("leaving topview thread for " + str(threadTimeout))
setPvDesc("topViewTrigMode", 0)
setPvDesc("topViewImMode", 2)
setPvDesc("topViewDataType", 1)
setPvDesc("topViewAcquire", 1, wait=False)
return
time.sleep(0.10)
try:
daq_macros.topViewWrite()
daq_macros.topViewSnap(prefix90, os.getcwd() + "/pinAlign", 1)
snapshot1Name = prefix1 + "_001.jpg"
snapshot2Name = prefix90 + "_001.jpg"
if (
not filecmp.cmp(os.getcwd() + "/pinAlign/" + snapshot1Name,
os.getcwd() + "/pinAlign/" + snapshot2Name)
): #this would mean something is wrong if true because the pictures are identical
comm_s = os.environ[
"LSDCHOME"] + "/runPinAlign.py " + snapshot1Name + " " + snapshot2Name
logger.info(comm_s)
lines = os.popen(comm_s).readlines()
logger.info("printing lines right after popen ")
logger.info(lines)
logger.info(" done")
if (lines[0].find("CANNOT CENTER") == -1):
offsetTokens = lines[0].split()
logger.info(offsetTokens[0] + " " + offsetTokens[1] + " " +
offsetTokens[2])
xlimLow = getPvDesc("robotXMountPos") + getPvDesc(
"robotXMountLowLim")
xlimHi = getPvDesc("robotXMountPos") + getPvDesc(
"robotXMountHiLim")
xpos = beamline_lib.motorPosFromDescriptor("sampleX")
target = xpos + float(offsetTokens[0]) * 1000.0
if (target < xlimLow or target > xlimHi):
logger.info("Pin X move beyond limit - Mount next sample.")
##else it thinks it worked return 0
else:
sampXadjust = 1000.0 * float(offsetTokens[0])
sampYadjust = 1000.0 * float(offsetTokens[1])
sampZadjust = 1000.0 * float(offsetTokens[2])
sampXCP = beamline_lib.motorPosFromDescriptor("sampleX")
sampYCP = beamline_lib.motorPosFromDescriptor("sampleY")
sampZCP = beamline_lib.motorPosFromDescriptor("sampleZ")
sampXAbsolute = sampXCP + sampXadjust
sampYAbsolute = sampYCP + sampYadjust
sampZAbsolute = sampZCP + sampZadjust
setPvDesc("robotXWorkPos", sampXAbsolute)
setPvDesc("robotYWorkPos", sampYAbsolute)
setPvDesc("robotZWorkPos", sampZAbsolute)
else:
logger.info("Cannot align pin - Mount next sample.")
#else it thinks it worked return 0
for outputline in lines:
logger.info(outputline)
except Exception as e:
e_s = str(e)
message = "TopView check ERROR, will continue: " + e_s
daq_lib.gui_message(message)
logger.error(message)
def unmountRobotSample(puckPos, pinPos,
sampID): #will somehow know where it came from
absPos = (pinsPerPuck * (puckPos % 3)) + pinPos + 1
robotOnline = getBlConfig('robot_online')
logger.info("robot online = " + str(robotOnline))
if (robotOnline):
detDist = beamline_lib.motorPosFromDescriptor("detectorDist")
if (detDist < ROBOT_MIN_DISTANCE):
setPvDesc("govRobotDetDistOut", ROBOT_MIN_DISTANCE)
setPvDesc("govHumanDetDistOut", ROBOT_MIN_DISTANCE)
daq_lib.setRobotGovState("SE")
logger.info("unmounting " + str(puckPos) + " " + str(pinPos) + " " +
str(sampID))
logger.info("absPos = " + str(absPos))
platePos = int(puckPos / 3)
rotMotTarget = daq_utils.dewarPlateMap[platePos][0]
rotCP = beamline_lib.motorPosFromDescriptor("dewarRot")
logger.info("dewar target,CP")
logger.info("%s %s" % (rotMotTarget, rotCP))
if (abs(rotMotTarget - rotCP) > 1):
logger.info("rot dewar")
try:
RobotControlLib.runCmd("park")
except Exception as e:
e_s = str(e)
message = "ROBOT park ERROR: " + e_s
daq_lib.gui_message(message)
logger.error(message)
return 0
beamline_lib.mvaDescriptor("dewarRot", rotMotTarget)
try:
par_init = (beamline_support.get_any_epics_pv(
"SW:RobotState", "VAL") != "Ready")
par_cool = (getPvDesc("gripTemp") > -170)
RobotControlLib.unmount1(init=par_init, cooldown=par_cool)
except Exception as e:
e_s = str(e)
message = "ROBOT unmount ERROR: " + e_s
daq_lib.gui_message(message)
logger.error(message)
return 0
if daq_utils.beamline == "fmx":
det_z_pv = 'XF:17IDC-ES:FMX{Det-Ax:Z}Mtr'
detDist = caget(f'{det_z_pv}.RBV')
if detDist < ROBOT_MIN_DISTANCE:
caput(
f'{det_z_pv}.VAL', ROBOT_MIN_DISTANCE, wait=True
) # TODO shouldn't this wait for SE transition or something??
detDist = caget(f'{det_z_pv}.RBV')
else:
detDist = beamline_lib.motorPosFromDescriptor("detectorDist")
if detDist < ROBOT_MIN_DISTANCE and abs(
detDist - ROBOT_MIN_DISTANCE) > ROBOT_DISTANCE_TOLERANCE:
logger.error(
f"ERROR - Detector closer than {ROBOT_MIN_DISTANCE} and move than {ROBOT_DISTANCE_TOLERANCE} from {ROBOT_MIN_DISTANCE}! actual distance: {detDist}. Stopping."
)
return 0
try:
RobotControlLib.unmount2(absPos)
except Exception as e:
e_s = str(e)
if (e_s.find("Fatal") != -1):
daq_macros.robotOff()
daq_macros.disableMount()
daq_lib.gui_message(
e_s +
". FATAL ROBOT ERROR - CALL STAFF! robotOff() executed.")
return 0
message = "ROBOT unmount2 ERROR: " + e_s
daq_lib.gui_message(message)
logger.error(message)
return 0
if (not daq_lib.waitGovRobotSE()):
daq_lib.clearMountedSample()
logger.info("could not go to SE")
return 0
return 1
def unmountRobotSample(puckPos, pinPos,
sampID): #will somehow know where it came from
absPos = (pinsPerPuck * (puckPos % 3)) + pinPos + 1
robotOnline = getBlConfig('robot_online')
logger.info("robot online = " + str(robotOnline))
if (robotOnline):
detDist = beamline_lib.motorPosFromDescriptor("detectorDist")
if (detDist < 200.0):
setPvDesc("govRobotDetDistOut", 200.0)
setPvDesc("govHumanDetDistOut", 200.0)
daq_lib.setRobotGovState("SE")
logger.info("unmounting " + str(puckPos) + " " + str(pinPos) + " " +
str(sampID))
logger.info("absPos = " + str(absPos))
platePos = int(puckPos / 3)
rotMotTarget = daq_utils.dewarPlateMap[platePos][0]
rotCP = beamline_lib.motorPosFromDescriptor("dewarRot")
logger.info("dewar target,CP")
logger.info("%s %s" % (rotMotTarget, rotCP))
if (abs(rotMotTarget - rotCP) > 1):
logger.info("rot dewar")
try:
RobotControlLib.runCmd("park")
except Exception as e:
e_s = str(e)
message = "ROBOT park ERROR: " + e_s
daq_lib.gui_message(message)
logger.error(message)
return 0
beamline_lib.mvaDescriptor("dewarRot", rotMotTarget)
try:
par_init = (beamline_support.get_any_epics_pv(
"SW:RobotState", "VAL") != "Ready")
par_cool = (getPvDesc("gripTemp") > -170)
RobotControlLib.unmount1(init=par_init, cooldown=par_cool)
except Exception as e:
e_s = str(e)
message = "ROBOT unmount ERROR: " + e_s
daq_lib.gui_message(message)
logger.error(message)
return 0
detDist = beamline_lib.motorPosFromDescriptor("detectorDist")
if (detDist < 200.0):
beamline_lib.mvaDescriptor("detectorDist", 200.0)
if (beamline_lib.motorPosFromDescriptor("detectorDist") < 199.0):
logger.error("ERROR - Detector < 200.0!")
return 0
try:
RobotControlLib.unmount2(absPos)
except Exception as e:
e_s = str(e)
if (e_s.find("Fatal") != -1):
daq_macros.robotOff()
daq_macros.disableMount()
daq_lib.gui_message(
e_s +
". FATAL ROBOT ERROR - CALL STAFF! robotOff() executed.")
return 0
message = "ROBOT unmount2 ERROR: " + e_s
daq_lib.gui_message(message)
logger.error(message)
return 0
if (not daq_lib.waitGovRobotSE()):
daq_lib.clearMountedSample()
logger.info("could not go to SE")
return 0
return 1
def mountRobotSample(puckPos, pinPos, sampID, init=0, warmup=0):
global retryMountCount
global sampXadjust, sampYadjust, sampZadjust
absPos = (pinsPerPuck * (puckPos % 3)) + pinPos + 1
logger.info(f'init: {init} warmup: {warmup}')
if (getBlConfig('robot_online')):
if (not daq_lib.waitGovRobotSE()):
daq_lib.setGovRobot('SE')
if (getBlConfig(TOP_VIEW_CHECK) == 1):
try:
sample = db_lib.getSampleByID(sampID)
sampName = sample['name']
reqCount = sample['request_count']
prefix1 = sampName + "_" + str(puckPos) + "_" + str(
pinPos) + "_" + str(reqCount) + "_PA_0"
prefix90 = sampName + "_" + str(puckPos) + "_" + str(
pinPos) + "_" + str(reqCount) + "_PA_90"
daq_macros.topViewSnap(prefix1,
os.getcwd() + "/pinAlign",
1,
acquire=0)
except Exception as e:
e_s = str(e)
message = "TopView check ERROR, will continue: " + e_s
daq_lib.gui_message(message)
logger.error(message)
logger.info("mounting " + str(puckPos) + " " + str(pinPos) + " " +
str(sampID))
logger.info("absPos = " + str(absPos))
platePos = int(puckPos / 3)
rotMotTarget = daq_utils.dewarPlateMap[platePos][0]
rotCP = beamline_lib.motorPosFromDescriptor("dewarRot")
logger.info("dewar target,CP")
logger.info("%s %s" % (rotMotTarget, rotCP))
if (abs(rotMotTarget - rotCP) > 1):
logger.info("rot dewar")
try:
if (init == 0):
RobotControlLib.runCmd("park")
except Exception as e:
e_s = str(e)
message = "ROBOT Park ERROR: " + e_s
daq_lib.gui_message(message)
logger.error(message)
return 0
beamline_lib.mvaDescriptor("dewarRot", rotMotTarget)
try:
if (init):
logger.debug('main loading part')
setPvDesc("boostSelect", 0)
if (getPvDesc("sampleDetected") == 0
): #reverse logic, 0 = true
setPvDesc("boostSelect", 1)
else:
robotStatus = beamline_support.get_any_epics_pv(
"SW:RobotState", "VAL")
if (robotStatus != "Ready"):
if (daq_utils.beamline == "fmx"):
daq_macros.homePins()
time.sleep(3.0)
if (not daq_lib.setGovRobot('SE')):
return
if (getBlConfig(TOP_VIEW_CHECK) == 1):
omegaCP = beamline_lib.motorPosFromDescriptor("omega")
if (omegaCP > 89.5 and omegaCP < 90.5):
beamline_lib.mvrDescriptor("omega", 85.0)
logger.info("calling thread")
_thread.start_new_thread(wait90TopviewThread,
(prefix1, prefix90))
logger.info("called thread")
setPvDesc("boostSelect", 0)
if (getPvDesc("gripTemp") > -170):
try:
logger.debug('mounting')
RobotControlLib.mount(absPos)
except Exception as e:
e_s = str(e)
message = "ROBOT mount ERROR: " + e_s
daq_lib.gui_message(message)
logger.error(message)
return 0
else:
time.sleep(0.5)
if (getPvDesc("sampleDetected") == 0):
logger.info("full mount")
RobotControlLib.mount(absPos)
else:
logger.debug('quick mount')
RobotControlLib.initialize()
RobotControlLib._mount(absPos)
setPvDesc("boostSelect", 1)
else:
if (getBlConfig(TOP_VIEW_CHECK) == 1):
omegaCP = beamline_lib.motorPosFromDescriptor("omega")
if (omegaCP > 89.5 and omegaCP < 90.5):
beamline_lib.mvrDescriptor("omega", 85.0)
logger.info("calling thread")
_thread.start_new_thread(wait90TopviewThread,
(prefix1, prefix90))
logger.info("called thread")
if (warmup):
RobotControlLib._mount(absPos, warmup=True)
else:
RobotControlLib._mount(absPos)
logger.info(f'{getBlConfig(TOP_VIEW_CHECK)} {daq_utils.beamline}')
if (getBlConfig(TOP_VIEW_CHECK) == 1):
if (sampYadjust == 0):
logger.info("Cannot align pin - Mount next sample.")
daq_lib.setGovRobot('SA')
return 1
except Exception as e:
logger.error(e)
e_s = str(e)
if (e_s.find("Fatal") != -1):
daq_macros.robotOff()
daq_macros.disableMount()
daq_lib.gui_message(
e_s +
". FATAL ROBOT ERROR - CALL STAFF! robotOff() executed.")
return 0
if (e_s.find("tilted") != -1
or e_s.find("Load Sample Failed") != -1):
if (getBlConfig("queueCollect") == 0):
daq_lib.gui_message(e_s + ". Try mounting again")
return 0
else:
if (retryMountCount == 0):
retryMountCount += 1
mountStat = mountRobotSample(puckPos, pinPos, sampID,
init)
if (mountStat == 1):
retryMountCount = 0
return mountStat
else:
retryMountCount = 0
daq_lib.gui_message("ROBOT: Could not recover from " +
e_s)
return 2
daq_lib.gui_message("ROBOT mount ERROR: " + e_s)
return 0
return 1
else:
return 1
def unmountRobotSample(puckPos,pinPos,sampID): #will somehow know where it came from
# absPos = (pinsPerPuck*puckPos)+pinPos+1
absPos = (pinsPerPuck*(puckPos%3))+pinPos+1
robotOnline = db_lib.getBeamlineConfigParam(daq_utils.beamline,'robot_online')
print("robot online = " + str(robotOnline))
if (robotOnline):
detDist = beamline_lib.motorPosFromDescriptor("detectorDist")
if (detDist<199.0):
beamline_support.setPvValFromDescriptor("govRobotDetDistOut",200.0)
beamline_support.setPvValFromDescriptor("govHumanDetDistOut",200.0)
daq_lib.setRobotGovState("SE")
print("unmounting " + str(puckPos) + " " + str(pinPos) + " " + str(sampID))
print("absPos = " + str(absPos))
platePos = int(puckPos/3)
rotMotTarget = daq_utils.dewarPlateMap[platePos][0]
rotCP = beamline_lib.motorPosFromDescriptor("dewarRot")
print("dewar target,CP")
print(rotMotTarget,rotCP)
if (abs(rotMotTarget-rotCP)>1):
print("rot dewar")
try:
RobotControlLib.runCmd("park")
except Exception as e:
e_s = str(e)
daq_lib.gui_message("ROBOT park ERROR: " + e_s)
print(e)
return 0
beamline_lib.mvaDescriptor("dewarRot",rotMotTarget)
try:
par_init=(beamline_support.get_any_epics_pv("SW:RobotState","VAL")!="Ready")
par_cool=(beamline_support.getPvValFromDescriptor("gripTemp")>-170)
if par_cool == False and daq_utils.beamline == "fmx":
time.sleep(3)
RobotControlLib.unmount1(init=par_init,cooldown=par_cool)
except Exception as e:
e_s = str(e)
daq_lib.gui_message("ROBOT unmount ERROR: " + e_s)
print(e)
return 0
detDist = beamline_lib.motorPosFromDescriptor("detectorDist")
if (detDist<200.0):
beamline_lib.mvaDescriptor("detectorDist",200.0)
if (beamline_lib.motorPosFromDescriptor("detectorDist") < 199.0):
print("ERROR - Detector < 200.0!")
return 0
try:
RobotControlLib.unmount2(absPos)
except Exception as e:
e_s = str(e)
if (e_s.find("Fatal") != -1):
daq_macros.robotOff()
daq_macros.disableMount()
daq_lib.gui_message(e_s + ". FATAL ROBOT ERROR - CALL STAFF! robotOff() executed.")
return 0
daq_lib.gui_message("ROBOT unmount2 ERROR: " + e_s)
print(e)
return 0
if (not daq_lib.waitGovRobotSE()):
daq_lib.clearMountedSample()
print("could not go to SE")
return 0
return 1
def mountRobotSample(puckPos,pinPos,sampID,init=0,warmup=0):
global retryMountCount
# absPos = (pinsPerPuck*puckPos)+pinPos+1
absPos = (pinsPerPuck*(puckPos%3))+pinPos+1
if (db_lib.getBeamlineConfigParam(daq_utils.beamline,'robot_online')):
if (not daq_lib.waitGovRobotSE()):
daq_lib.setGovRobotSE()
print("mounting " + str(puckPos) + " " + str(pinPos) + " " + str(sampID))
print("absPos = " + str(absPos))
platePos = int(puckPos/3)
rotMotTarget = daq_utils.dewarPlateMap[platePos][0]
rotCP = beamline_lib.motorPosFromDescriptor("dewarRot")
print("dewar target,CP")
print(rotMotTarget,rotCP)
if (abs(rotMotTarget-rotCP)>1):
print("rot dewar")
try:
if (init == 0):
RobotControlLib.runCmd("park")
except Exception as e:
e_s = str(e)
daq_lib.gui_message("ROBOT Park ERROR: " + e_s)
print(e)
return 0
beamline_lib.mvaDescriptor("dewarRot",rotMotTarget)
try:
if (init):
beamline_support.setPvValFromDescriptor("boostSelect",0)
if (beamline_support.getPvValFromDescriptor("sampleDetected") == 0): #reverse logic, 0 = true
beamline_support.setPvValFromDescriptor("boostSelect",1)
else:
# if (beamline_support.getPvValFromDescriptor("gripTemp") > 20.0): #gripper warm
robotStatus = beamline_support.get_any_epics_pv("SW:RobotState","VAL")
if (robotStatus != "Ready"):
if (daq_utils.beamline == "fmx"):
daq_macros.homePins()
time.sleep(3.0)
if (not daq_lib.setGovRobotSE()):
return
RobotControlLib.mount(absPos)
else:
if (warmup):
RobotControlLib._mount(absPos,warmup=True)
else:
RobotControlLib._mount(absPos)
daq_lib.setGovRobotSA()
return 1
except Exception as e:
print(e)
e_s = str(e)
if (e_s.find("Fatal") != -1):
daq_macros.robotOff()
daq_macros.disableMount()
daq_lib.gui_message(e_s + ". FATAL ROBOT ERROR - CALL STAFF! robotOff() executed.")
return 0
if (e_s.find("tilted") != -1 or e_s.find("Load Sample Failed") != -1):
if (db_lib.getBeamlineConfigParam(daq_utils.beamline,"queueCollect") == 0):
daq_lib.gui_message(e_s + ". Try mounting again")
return 0
else:
if (retryMountCount == 0):
retryMountCount+=1
mountStat = mountRobotSample(puckPos,pinPos,sampID,init)
if (mountStat == 1):
retryMountCount = 0
return mountStat
else:
retryMountCount = 0
daq_lib.gui_message("ROBOT: Could not recover from " + e_s)
return 2
daq_lib.gui_message("ROBOT mount ERROR: " + e_s)
return 0
return 1
else:
return 1
def cooldownGripper():
try:
RobotControlLib.runCmd("cooldownGripper")
except:
daq_lib.gui_message("ROBOT cooldown failed!")
def warmupGripper():
try:
RobotControlLib.runCmd("warmupGripper")
daq_lib.mountCounter = 0
except:
daq_lib.gui_message("ROBOT warmup failed!")
def move_gap(kev):
if (get_epics_pv("MguMENB","VAL") != 1):
daq_lib.destroy_gui_message()
daq_lib.gui_message("Gap not enabled. Will continue.&")
set_epics_pv("MguE","E",float(kev)*1000.0)
